Exoskeleton Control Based on Neural Interface
This chapter describes an upper limb exoskeleton designed to assist elbow movement. There are many ways for an upper limb exoskeleton to obtain a human’s movement intention, but here the upper limb exoskeleton interprets its user’s intention with a combination of surface EMG signals and wrist force measurements. Two types of human-robot interaction approaches were used, one was the sEMG-based interface controller, and the other was the impedance-based interface controller. This chapter also presents an interface based on human sEMG and a physiological musculoskeletal model for human upper limb movements.
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